diff --git a/CITATION.md b/CITATION.md new file mode 100644 index 0000000000000000000000000000000000000000..495e0b91980f1c8e7c08036094ec407f421eefa1 --- /dev/null +++ b/CITATION.md @@ -0,0 +1,25 @@ +# Citation + +If you use this sample package or the data it contains, please cite the TTP paper: + +Chi Zhang, Penglin Cai, Ziheng Xi, Haoqi Yuan, Hao Luo, Wanpeng Zhang, Sipeng Zheng, Chaoyi Xu, and Zongqing Lu. Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation. 2026. + +```bibtex +@misc{zhang2026ttp, + title = {Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation}, + author = {Zhang, Chi and Cai, Penglin and Xi, Ziheng and Yuan, Haoqi and Luo, Hao and Zhang, Wanpeng and Zheng, Sipeng and Xu, Chaoyi and Lu, Zongqing}, + year = {2026}, + url = {https://beingbeyond.github.io/TTP/} +} +``` + +To cite this sample package directly: + +```bibtex +@misc{htac2026release_sample_interndesk, + title = {H-Tac Release Sample InternDesk}, + author = {{H-Tac Dataset Authors}}, + year = {2026}, + note = {Sample release package for Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation} +} +``` diff --git a/DeskTaskTac/AprilTagPip/README.md b/DeskTaskTac/AprilTagPip/README.md new file mode 100644 index 0000000000000000000000000000000000000000..537a1d9f3b7a2890a9f833a914193bdfaa28883c --- /dev/null +++ b/DeskTaskTac/AprilTagPip/README.md @@ -0,0 +1,33 @@ +# AprilTagPip Sample + +This directory is a complete-episode sample of the DeskTaskTac AprilTag-assisted pipeline. + +AprilTag episodes use scene AprilTags and hand reference structures to recover bimanual poses, together with tactile and MoCap glove information. This subset uses the same per-frame schema as `../RawHandPip`; see `../README.md` for the DeskTaskTac field dictionary. + +## Summary + +| item | value | +| --- | ---: | +| episodes | 4 | +| frames | 11,104 | +| task entries | 3 | +| top-view videos | 4 | + +Episode indices and video paths are local to this subset and align with the files under `data/` and `videos/video.top_view/`. + +## Layout + +- `data/episode_*.parquet`: frame-level episode data. +- `videos/video.top_view/episode_*.mp4`: top-view MP4 videos. +- `meta/features.json`: 38-field DeskTaskTac per-frame schema. +- `meta/dataset_info.json`: dataset-level metadata, modality mapping, and coordinate systems. +- `meta/episodes.parquet`: episode-level metadata for the AprilTag pipeline. +- `meta/tasks.jsonl`: task id to task-name mapping. +- `meta/episode_records/*.json`: per-episode metadata records. + +## Loading Notes + +- Resolve paths in `video.top_view` relative to this directory. +- Treat `state.eef_*` and `state.left_eef_*` as right/left hand wrist or anchor poses in the first-person OpenCV camera frame. +- `timestamp` is episode-relative seconds; `timestamp_ms` preserves the captured millisecond timeline. +- `manus_frame_index` may contain source MoCap/Manus frame indices in this subset. diff --git a/DeskTaskTac/AprilTagPip/data/episode_000000.parquet b/DeskTaskTac/AprilTagPip/data/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3a693e3d592e4d934d8b0a3d776914771ed47569 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/data/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21b04f2211203c6b34a10acb7b3f4c7243d2815658153f1e1cef238768dd0cb7 +size 9141827 diff --git a/DeskTaskTac/AprilTagPip/data/episode_000001.parquet b/DeskTaskTac/AprilTagPip/data/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4872dd109b44678b7224b9eb02a697b2ee105817 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/data/episode_000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd6783a5789e039e920f8e0dc59d4ae142733346e712fd7a50bc04f4d675eaea +size 3743213 diff --git a/DeskTaskTac/AprilTagPip/data/episode_000002.parquet b/DeskTaskTac/AprilTagPip/data/episode_000002.parquet new file mode 100644 index 0000000000000000000000000000000000000000..99873382568baa0bfdcd1cf3e64f225f64c70458 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/data/episode_000002.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b8582ec4bb7c3744522b3a56f6ffc88c5f875d4457d90810291749f9a24d188 +size 932598 diff --git a/DeskTaskTac/AprilTagPip/data/episode_000003.parquet b/DeskTaskTac/AprilTagPip/data/episode_000003.parquet new file mode 100644 index 0000000000000000000000000000000000000000..852e90c8f17ea5f33ce72c691c751b3196b36432 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/data/episode_000003.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53475d38dbf982b8ffb8c2e6a86176e87668ba83f60edf8aaac4ce374043ad05 +size 2569560 diff --git a/DeskTaskTac/AprilTagPip/meta/dataset_info.json b/DeskTaskTac/AprilTagPip/meta/dataset_info.json new file mode 100644 index 0000000000000000000000000000000000000000..520127eff705fabe8c37876146534ceb742d7da8 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/meta/dataset_info.json @@ -0,0 +1,197 @@ +{ + "dataset_name": "AprilTagPip", + "dataset_type": "lerobot_episode_dataset", + "codebase_version": "h_tac_desktask_tac_v1", + "fps": 30.0, + "total_episodes": 4, + "total_frames": 11104, + "total_tasks": 3, + "video_features": [ + "video.top_view" + ], + "paths": { + "data": "data/episode_*.parquet", + "episodes": "meta/episodes.parquet", + "tasks": "meta/tasks.jsonl", + "features": "meta/features.json", + "videos": "videos/video.top_view/episode_*.mp4" + }, + "modalities": { + "language.instruction": { + "source_column": "task_index", + "start": 0, + "end": 0, + "lookup_path": "meta/tasks.jsonl" + }, + "state.eef_position": { + "source_column": "state.eef_position", + "start": 0, + "end": 3, + "coordinate_frame": "first_person_camera_opencv" + }, + "state.eef_rotation": { + "source_column": "state.eef_rotation", + "start": 0, + "end": 3, + "coordinate_frame": "first_person_camera_opencv", + "rotation_type": "axis_angle" + }, + "state.left_eef_position": { + "source_column": "state.left_eef_position", + "start": 0, + "end": 3, + "coordinate_frame": "first_person_camera_opencv" + }, + "state.left_eef_rotation": { + "source_column": "state.left_eef_rotation", + "start": 0, + "end": 3, + "coordinate_frame": "first_person_camera_opencv", + "rotation_type": "axis_angle" + }, + "state.dexhand_position": { + "source_column": "state.dexhand_position", + "start": 0, + "end": 6 + }, + "state.left_dexhand_position": { + "source_column": "state.left_dexhand_position", + "start": 0, + "end": 6 + }, + "state.right_beta": { + "source_column": "state.right_beta", + "start": 0, + "end": 10 + }, + "state.left_beta": { + "source_column": "state.left_beta", + "start": 0, + "end": 10 + }, + "state.right_theta": { + "source_column": "state.right_theta", + "start": 0, + "end": 45 + }, + "state.left_theta": { + "source_column": "state.left_theta", + "start": 0, + "end": 45 + }, + "state.first_person_camera_position_world": { + "source_column": "state.first_person_camera_position_world", + "start": 0, + "end": 3, + "coordinate_frame": "world_scene" + }, + "state.first_person_camera_rotation_world": { + "source_column": "state.first_person_camera_rotation_world", + "start": 0, + "end": 3, + "coordinate_frame": "world_scene", + "rotation_type": "axis_angle" + }, + "tactile.right_tactile": { + "source_column": "tactile.right_tacglove", + "start": 0, + "end": 137 + }, + "tactile.left_tactile": { + "source_column": "tactile.left_tacglove", + "start": 0, + "end": 137 + }, + "tactile_pred.right_tacglove": { + "source_column": "tactile_pred.right_tacglove", + "start": 0, + "end": 137 + }, + "tactile_pred.left_tacglove": { + "source_column": "tactile_pred.left_tacglove", + "start": 0, + "end": 137 + }, + "action.eef_position": { + "source_column": "action.eef_position", + "start": 0, + "end": 3, + "absolute": false, + "coordinate_frame": "first_person_camera_opencv" + }, + "action.eef_rotation": { + "source_column": "action.eef_rotation", + "start": 0, + "end": 3, + "absolute": false, + "coordinate_frame": "first_person_camera_opencv", + "rotation_type": "axis_angle" + }, + "action.left_eef_position": { + "source_column": "action.left_eef_position", + "start": 0, + "end": 3, + "absolute": false, + "coordinate_frame": "first_person_camera_opencv" + }, + "action.left_eef_rotation": { + "source_column": "action.left_eef_rotation", + "start": 0, + "end": 3, + "absolute": false, + "coordinate_frame": "first_person_camera_opencv", + "rotation_type": "axis_angle" + }, + "action.dexhand_position": { + "source_column": "action.dexhand_position", + "start": 0, + "end": 6 + }, + "action.left_dexhand_position": { + "source_column": "action.left_dexhand_position", + "start": 0, + "end": 6 + }, + "action.right_beta": { + "source_column": "action.right_beta", + "start": 0, + "end": 10 + }, + "action.left_beta": { + "source_column": "action.left_beta", + "start": 0, + "end": 10 + }, + "action.right_theta": { + "source_column": "action.right_theta", + "start": 0, + "end": 45 + }, + "action.left_theta": { + "source_column": "action.left_theta", + "start": 0, + "end": 45 + } + }, + "coordinate_systems": { + "first_person_camera_opencv": { + "definition": "Current-frame egocentric camera coordinates following OpenCV convention.", + "axes": { + "x": "image_right", + "y": "image_down", + "z": "camera_forward" + } + }, + "world_scene": { + "definition": "Scene-board world frame anchored to the reference scene AprilTag.", + "axes": "Inherited from the reconstructed world transform chain." + } + }, + "fusion": { + "camera_serials": "all", + "fixed_world_camera_serials": "camera_1,camera_2", + "timeline_camera_serial": "camera_0", + "hand_pose_frame": "first_person_camera_opencv", + "first_person_camera_pose_frame": "world_scene" + } +} diff --git a/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000000.json b/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..89105eb6660b3a2be6a4be452cd7371b98b5b2ec --- /dev/null +++ b/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000000.json @@ -0,0 +1,22 @@ +{ + "episode_index": 0, + "session_name": "episode_000000", + "session_dir": "sessions/episode_000000", + "length": 6085, + "task_index": 2, + "task": "play_tangram", + "fps": 30.0, + "camera_serials": "all", + "multiview_min_hand_tags": 1, + "rts_smooth_wrist_pose": true, + "first_person_camera_serial": "camera_0", + "video.top_view": "videos/video.top_view/episode_000000.mp4", + "parquet_path": "data/episode_000000.parquet", + "mano_device": "cpu", + "duration_seconds": 202.949, + "timeline_mode": "camera_serial", + "timeline_camera_serial": "camera_0", + "pad_frozen_data": false, + "manus_frozen_left": false, + "manus_frozen_right": false +} diff --git a/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000001.json b/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..005aeed27c5328e249cf4d6f1b572e479f182302 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000001.json @@ -0,0 +1,22 @@ +{ + "episode_index": 1, + "session_name": "episode_000001", + "session_dir": "sessions/episode_000001", + "length": 2648, + "task_index": 1, + "task": "operate_calculator", + "fps": 30.0, + "camera_serials": "all", + "multiview_min_hand_tags": 1, + "rts_smooth_wrist_pose": true, + "first_person_camera_serial": "camera_0", + "video.top_view": "videos/video.top_view/episode_000001.mp4", + "parquet_path": "data/episode_000001.parquet", + "mano_device": "cpu", + "duration_seconds": 88.298, + "timeline_mode": "camera_serial", + "timeline_camera_serial": "camera_0", + "pad_frozen_data": false, + "manus_frozen_left": false, + "manus_frozen_right": false +} diff --git a/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000002.json b/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e8eee303dd78d88c2cff3197c0e8b829c8f0a83b --- /dev/null +++ b/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000002.json @@ -0,0 +1,22 @@ +{ + "episode_index": 2, + "session_name": "episode_000002", + "session_dir": "sessions/episode_000002", + "length": 639, + "task_index": 0, + "task": "work_with_cylinder", + "fps": 30.0, + "camera_serials": "all", + "multiview_min_hand_tags": 1, + "rts_smooth_wrist_pose": true, + "first_person_camera_serial": "camera_0", + "video.top_view": "videos/video.top_view/episode_000002.mp4", + "parquet_path": "data/episode_000002.parquet", + "mano_device": "cpu", + "duration_seconds": 21.283, + "timeline_mode": "camera_serial", + "timeline_camera_serial": "camera_0", + "pad_frozen_data": false, + "manus_frozen_left": false, + "manus_frozen_right": false +} diff --git a/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000003.json b/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..dec6f2f1d7d19e4fe2e859fb02bb7f7a4092324a --- /dev/null +++ b/DeskTaskTac/AprilTagPip/meta/episode_records/episode_000003.json @@ -0,0 +1,22 @@ +{ + "episode_index": 3, + "session_name": "episode_000003", + "session_dir": "sessions/episode_000003", + "length": 1732, + "task_index": 0, + "task": "work_with_cylinder", + "fps": 30.0, + "camera_serials": "all", + "multiview_min_hand_tags": 1, + "rts_smooth_wrist_pose": true, + "first_person_camera_serial": "camera_0", + "video.top_view": "videos/video.top_view/episode_000003.mp4", + "parquet_path": "data/episode_000003.parquet", + "mano_device": "cpu", + "duration_seconds": 57.775, + "timeline_mode": "camera_serial", + "timeline_camera_serial": "camera_0", + "pad_frozen_data": false, + "manus_frozen_left": false, + "manus_frozen_right": false +} diff --git a/DeskTaskTac/AprilTagPip/meta/episodes.parquet b/DeskTaskTac/AprilTagPip/meta/episodes.parquet new file mode 100644 index 0000000000000000000000000000000000000000..959cae9c50a8b0e56ddb16c11d8f3cea32c4dc6b --- /dev/null +++ b/DeskTaskTac/AprilTagPip/meta/episodes.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca6b222f2373f6acb43ed12e1333acce041cc8e4c4d8bf3caffc1d0a57513ea2 +size 6254 diff --git a/DeskTaskTac/AprilTagPip/meta/features.json b/DeskTaskTac/AprilTagPip/meta/features.json new file mode 100644 index 0000000000000000000000000000000000000000..9d99fbe6a70752da6bfb991a97dc5e21ee532cd2 --- /dev/null +++ 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"shape": [ + 3 + ], + "coordinate_frame": "first_person_camera_opencv", + "absolute": false, + "rotation_type": "axis_angle" + }, + "action.dexhand_position": { + "dtype": "float32", + "shape": [ + 6 + ] + }, + "action.left_dexhand_position": { + "dtype": "float32", + "shape": [ + 6 + ] + }, + "action.right_beta": { + "dtype": "float32", + "shape": [ + 10 + ] + }, + "action.left_beta": { + "dtype": "float32", + "shape": [ + 10 + ] + }, + "action.right_theta": { + "dtype": "float32", + "shape": [ + 45 + ] + }, + "action.left_theta": { + "dtype": "float32", + "shape": [ + 45 + ] + } +} diff --git a/DeskTaskTac/AprilTagPip/meta/tasks.jsonl b/DeskTaskTac/AprilTagPip/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b63fb0eb9e1e03a3759eca72477865aef2cb6053 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/meta/tasks.jsonl @@ -0,0 +1,3 @@ +{"task_index": 0, "task": "work_with_cylinder"} +{"task_index": 1, "task": "operate_calculator"} +{"task_index": 2, "task": "play_tangram"} diff --git a/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000000.mp4 b/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21bc46f1ef718caa2c2ea29955fdc5ebf53668c5 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83c494bdd25c71de06e5c577545a08019dc8515dc59acb4986769395a6833904 +size 263692336 diff --git a/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000001.mp4 b/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..10937652795e901c3b4b9950ddf2a6f30277cb67 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbf3351d4184d379ead3ccfbc0099d27643d68a837ef8aa660e83fb1a23cf4f9 +size 89223385 diff --git a/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000002.mp4 b/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f5b6b4db2e4b96a78f00c9514dd901b8d9aa106f --- /dev/null +++ b/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b5a013a84890f43393e17c091a64d372679262aec77bf1e5e608fd6b8a0f260 +size 30773987 diff --git a/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000003.mp4 b/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000003.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ece1bf1b5139cd0b1e67ce99ca685c644f00ac37 --- /dev/null +++ b/DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000003.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:125e433f30ff838c7f767d051a63fb9054082bb1cff782e6ae8895d3e236ad13 +size 57120549 diff --git a/DeskTaskTac/README.md b/DeskTaskTac/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3165b0413e50fe8dde7130daeb962f1d0cacfc36 --- /dev/null +++ b/DeskTaskTac/README.md @@ -0,0 +1,95 @@ +# DeskTaskTac Sample + +`DeskTaskTac` contains two complete-episode desk-task samples: + +| subset | episodes | frames | videos | notes | +| --- | ---: | ---: | ---: | --- | +| `RawHandPip` | 10 | 10,974 | 10 | raw-hand desk-task episodes | +| `AprilTagPip` | 4 | 11,104 | 4 | AprilTag-assisted desk-task episodes | + +Both subsets follow the release layout described in the top-level README and include top-view MP4 videos. Episode ids, task ids, parquet paths, and video paths are local to this release package. + +## Schema Consistency + +`RawHandPip` and `AprilTagPip` share the same 38-column per-frame schema. Common frame fields are documented in the top-level `README.md`. This file lists DeskTaskTac-specific fields and metadata. + +The two DeskTaskTac subsets differ in collection/reconstruction pipeline and episode-level metadata: + +- `RawHandPip`: raw-hand desk-task episodes. The raw-hand pipeline recovers hand state from image keypoint detection and multi-view triangulation, with tactile glove readings. +- `AprilTagPip`: AprilTag-assisted desk-task episodes. The AprilTag pipeline uses scene AprilTags and hand reference structures to recover bimanual poses, with tactile and MoCap glove information. + +## Loading Notes + +- `RawHandPip` and `AprilTagPip` share one per-frame schema. +- Read `meta/features.json` before selecting parquet columns. +- `meta/episodes.parquet` contains subset-specific auxiliary columns. +- `state.eef_*` is the hand wrist/anchor pose in `first_person_camera_opencv`. +- Resolve `video.top_view` relative to the subset root. +- `timestamp` is episode-relative seconds; `timestamp_ms` preserves the captured millisecond timeline. + +## DeskTaskTac-Specific Per-Frame Fields + +DeskTaskTac adds dexhand and TacGlove tactile fields on top of the common schema. + +| field | dtype / shape | meaning | +| --- | --- | --- | +| `state.dexhand_position` | `float32[6]` | Right-side dexhand/hand-position state vector. | +| `state.left_dexhand_position` | `float32[6]` | Left-side dexhand/hand-position state vector. | +| `action.dexhand_position` | `float32[6]` | Right-side dexhand/hand-position action vector. | +| `action.left_dexhand_position` | `float32[6]` | Left-side dexhand/hand-position action vector. | +| `tactile.right_tacglove` | `float32[137]` | Right-hand TacGlove tactile vector. | +| `tactile.left_tacglove` | `float32[137]` | Left-hand TacGlove tactile vector. | +| `tactile_pred.right_tacglove` | `float32[137]` | Right-hand predicted or processed TacGlove tactile vector. | +| `tactile_pred.left_tacglove` | `float32[137]` | Left-hand predicted or processed TacGlove tactile vector. | + +## Pose And Timing Notes + +- `state.eef_position` and `state.eef_rotation` are right-hand wrist/anchor pose fields in `first_person_camera_opencv`, not robot EEF fields. +- `state.left_eef_position` and `state.left_eef_rotation` are the left-hand equivalents. +- `action.eef_*` and `action.left_eef_*` are declared with `absolute=false`; treat them as action targets or deltas according to the original conversion policy. +- `timestamp` is episode-relative seconds on the captured first-person video timeline. +- `timestamp_ms` preserves the captured millisecond timeline timestamp. It is not simply `frame_index * 1000 / 30`. +- `video.top_view_frame_index` matches `frame_index` in this sample. +- `manus_frame_index` is meaningful when a Manus/MoCap source was available. In RawHand episodes it is commonly `-1`; in AprilTag episodes it may contain source frame indices. + +## Tactile Representation + +DeskTaskTac tactile fields are 137-D TacGlove vectors for the right and left hands. The paired `tactile_pred.*` fields keep the same shape and represent predicted or processed tactile values for the corresponding hand. + +DeskTaskTac combines first-person camera timeline alignment, wrist pose, MANO `theta`/`beta`, tactile glove signals, top-view video, and task labels. + +## Episode Metadata + +The per-frame parquet schema is the same for `RawHandPip` and `AprilTagPip`, but `meta/episodes.parquet` is not identical between the two subsets. + +Common DeskTaskTac episode-level fields include: + +| field | meaning | +| --- | --- | +| `episode_index` | Episode id within the release subset. | +| `session_name`, `session_dir` | Release-local episode/session identifiers. | +| `length` | Number of frames in the episode. | +| `task_index`, `task` | Task id and task name. | +| `fps` | Nominal frame rate, `30.0`. | +| `camera_serials` | Camera selection string used by the subset metadata. | +| `multiview_min_hand_tags` | Minimum required hand tags/views in the source pipeline. | +| `rts_smooth_wrist_pose` | Whether wrist pose smoothing was enabled. | +| `first_person_camera_serial` | First-person camera id, usually `camera_0`. | +| `video.top_view` | Relative top-view video path. | +| `parquet_path` | Relative path to the episode parquet file. | +| `mano_device` | Device used for MANO processing, such as `cpu`. | +| `duration_seconds` | Episode duration in seconds. | +| `timeline_mode`, `timeline_camera_serial` | Timeline alignment mode and reference camera. | +| `pad_frozen_data`, `manus_frozen_left`, `manus_frozen_right` | Flags for padded or frozen source data. | + +`RawHandPip` also includes extra raw-hand processing fields such as `pipeline_mode`, `hand_2d_backend`, `interpolation_space`, and `trusted_3d_*`. `AprilTagPip` has a smaller episode-level metadata table. + +## Task Names + +`meta/tasks.jsonl` maps `task_index` to desk-task names. Examples include `assemble_lego`, `operate_desk_lamp`, `fold_paper`, `work_with_cylinder`, `operate_calculator`, and `play_tangram`. + +## Release Files + +Each subset contains the standard release layout: `data/`, `meta/`, `meta/episode_records/`, and `videos/video.top_view/`. + +Subset counts are summarized above and in the top-level `README.md`. Field definitions shared by both subsets are listed in `SCHEMA.md`. diff --git a/DeskTaskTac/RawHandPip/README.md b/DeskTaskTac/RawHandPip/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c98ea5177284056e24cdb937223915e7f791a449 --- /dev/null +++ b/DeskTaskTac/RawHandPip/README.md @@ -0,0 +1,33 @@ +# RawHandPip Sample + +This directory is a complete-episode sample of the DeskTaskTac RawHand pipeline. + +RawHand episodes use image-based hand keypoint detection and multi-view triangulation to recover hand state, together with tactile glove readings. This subset uses the same per-frame schema as `../AprilTagPip`; see `../README.md` for the DeskTaskTac field dictionary. + +## Summary + +| item | value | +| --- | ---: | +| episodes | 10 | +| frames | 10,974 | +| task entries | 10 | +| top-view videos | 10 | + +Episode indices and video paths are local to this subset and align with the files under `data/` and `videos/video.top_view/`. + +## Layout + +- `data/episode_*.parquet`: frame-level episode data. +- `videos/video.top_view/episode_*.mp4`: top-view MP4 videos. +- `meta/features.json`: 38-field DeskTaskTac per-frame schema. +- `meta/dataset_info.json`: dataset-level metadata, modality mapping, and coordinate systems. +- `meta/episodes.parquet`: episode-level metadata. RawHand includes additional raw-hand processing fields. +- `meta/tasks.jsonl`: task id to task-name mapping. +- `meta/episode_records/*.json`: per-episode metadata records. + +## Loading Notes + +- Resolve paths in `video.top_view` relative to this directory. +- Treat `state.eef_*` and `state.left_eef_*` as right/left hand wrist or anchor poses in the first-person OpenCV camera frame. +- `timestamp` is episode-relative seconds; `timestamp_ms` preserves the captured millisecond timeline. +- `manus_frame_index` is commonly `-1` in RawHand episodes because this pipeline does not rely on a Manus/MoCap source in the same way as AprilTag episodes. diff --git a/DeskTaskTac/RawHandPip/data/episode_000000.parquet b/DeskTaskTac/RawHandPip/data/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8cf6b17c43a944245f21328cb7ba55fa46726637 --- /dev/null +++ b/DeskTaskTac/RawHandPip/data/episode_000000.parquet @@ -0,0 +1,3 @@ +version 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0000000000000000000000000000000000000000..d50d8c6b23d7dad3568bf6a033d3ff96f91a5029 --- /dev/null +++ b/DeskTaskTac/RawHandPip/data/episode_000009.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49daa1872b4f635ca461fd51ee7be1a5ea9444684f2521fdc0bda0567e1bc3c3 +size 983146 diff --git a/DeskTaskTac/RawHandPip/meta/dataset_info.json b/DeskTaskTac/RawHandPip/meta/dataset_info.json new file mode 100644 index 0000000000000000000000000000000000000000..f0e0661eceb3ad9dd3b7c09056640f7aee02b1ae --- /dev/null +++ b/DeskTaskTac/RawHandPip/meta/dataset_info.json @@ -0,0 +1,197 @@ +{ + "dataset_name": "RawHandPip", + "dataset_type": "lerobot_episode_dataset", + "codebase_version": "h_tac_desktask_tac_v1", + "fps": 30.0, + "total_episodes": 10, + "total_frames": 10974, + "total_tasks": 10, + "video_features": [ + "video.top_view" + ], + "paths": { + "data": "data/episode_*.parquet", + "episodes": "meta/episodes.parquet", + "tasks": "meta/tasks.jsonl", + "features": "meta/features.json", + "videos": "videos/video.top_view/episode_*.mp4" + }, + "modalities": { + "language.instruction": { + "source_column": "task_index", + "start": 0, + "end": 0, + "lookup_path": "meta/tasks.jsonl" + }, + "state.eef_position": { + "source_column": "state.eef_position", + "start": 0, + "end": 3, + "coordinate_frame": "first_person_camera_opencv" + }, + "state.eef_rotation": { + "source_column": "state.eef_rotation", + "start": 0, + "end": 3, + "coordinate_frame": "first_person_camera_opencv", + "rotation_type": "axis_angle" + }, + "state.left_eef_position": { + "source_column": "state.left_eef_position", + "start": 0, + "end": 3, + "coordinate_frame": "first_person_camera_opencv" + }, + "state.left_eef_rotation": { + "source_column": "state.left_eef_rotation", + "start": 0, + "end": 3, + "coordinate_frame": "first_person_camera_opencv", + "rotation_type": "axis_angle" + }, + "state.dexhand_position": { + "source_column": "state.dexhand_position", + "start": 0, + "end": 6 + }, + "state.left_dexhand_position": { + "source_column": "state.left_dexhand_position", + "start": 0, + "end": 6 + }, + "state.right_beta": { + "source_column": "state.right_beta", + "start": 0, + "end": 10 + }, + "state.left_beta": { + "source_column": "state.left_beta", + "start": 0, + "end": 10 + }, + "state.right_theta": { + "source_column": "state.right_theta", + "start": 0, + "end": 45 + }, + "state.left_theta": { + "source_column": "state.left_theta", + "start": 0, + "end": 45 + }, + "state.first_person_camera_position_world": { + "source_column": "state.first_person_camera_position_world", + "start": 0, + "end": 3, + "coordinate_frame": "world_scene" + }, + "state.first_person_camera_rotation_world": { + "source_column": "state.first_person_camera_rotation_world", + "start": 0, + "end": 3, + "coordinate_frame": "world_scene", + "rotation_type": "axis_angle" + }, + "tactile.right_tactile": { + "source_column": "tactile.right_tacglove", + "start": 0, + "end": 137 + }, + "tactile.left_tactile": { + "source_column": "tactile.left_tacglove", + "start": 0, + "end": 137 + }, + "tactile_pred.right_tacglove": { + "source_column": "tactile_pred.right_tacglove", + "start": 0, + "end": 137 + }, + "tactile_pred.left_tacglove": { + "source_column": "tactile_pred.left_tacglove", + "start": 0, + "end": 137 + }, + "action.eef_position": { + "source_column": "action.eef_position", + "start": 0, + "end": 3, + "absolute": false, + "coordinate_frame": "first_person_camera_opencv" + }, + "action.eef_rotation": { + "source_column": "action.eef_rotation", + "start": 0, + "end": 3, + "absolute": false, + "coordinate_frame": "first_person_camera_opencv", + "rotation_type": "axis_angle" + }, + "action.left_eef_position": { + "source_column": "action.left_eef_position", + "start": 0, + "end": 3, + "absolute": false, + "coordinate_frame": "first_person_camera_opencv" + }, + "action.left_eef_rotation": { + "source_column": "action.left_eef_rotation", + "start": 0, + "end": 3, + "absolute": false, + "coordinate_frame": "first_person_camera_opencv", + "rotation_type": "axis_angle" + }, + "action.dexhand_position": { + "source_column": "action.dexhand_position", + "start": 0, + "end": 6 + }, + "action.left_dexhand_position": { + "source_column": "action.left_dexhand_position", + "start": 0, + "end": 6 + }, + "action.right_beta": { + "source_column": "action.right_beta", + "start": 0, + "end": 10 + }, + "action.left_beta": { + "source_column": "action.left_beta", + "start": 0, + "end": 10 + }, + "action.right_theta": { + "source_column": "action.right_theta", + "start": 0, + "end": 45 + }, + "action.left_theta": { + "source_column": "action.left_theta", + "start": 0, + "end": 45 + } + }, + "coordinate_systems": { + "first_person_camera_opencv": { + "definition": "Current-frame egocentric camera coordinates following OpenCV convention.", + "axes": { + "x": "image_right", + "y": "image_down", + "z": "camera_forward" + } + }, + "world_scene": { + "definition": "Scene-board world frame anchored to the reference scene AprilTag.", + "axes": "Inherited from the reconstructed world transform chain." + } + }, + "fusion": { + "camera_serials": "all", + "fixed_world_camera_serials": "camera_1,camera_2", + "timeline_camera_serial": "camera_0", + "hand_pose_frame": "first_person_camera_opencv", + "first_person_camera_pose_frame": "world_scene" + } +} diff --git a/DeskTaskTac/RawHandPip/meta/episode_records/episode_000000.json b/DeskTaskTac/RawHandPip/meta/episode_records/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c91144d8cdd8f3128262ff08d25206619c5b11a5 --- /dev/null +++ b/DeskTaskTac/RawHandPip/meta/episode_records/episode_000000.json @@ -0,0 +1,29 @@ +{ + "episode_index": 0, + "session_name": "episode_000000", + "session_dir": "sessions/episode_000000", + "length": 1906, + "task_index": 5, + "task": "play_tangram", + "fps": 30.0, + "camera_serials": "all", + "multiview_min_hand_tags": 0, + "rts_smooth_wrist_pose": false, + "first_person_camera_serial": "camera_0", + "video.top_view": "videos/video.top_view/episode_000000.mp4", + "parquet_path": "data/episode_000000.parquet", + "mano_device": "cpu", + "duration_seconds": 63.547, + "timeline_mode": "camera_serial", + "timeline_camera_serial": "camera_0", + "pipeline_mode": "rawhand", + "hand_2d_backend": "mixed", + "interpolation_space": "2d", + "trusted_3d_mse_threshold_px2": 150.0, + "lose_track_time_s": 1.0, + "trusted_3d_smoothing_kernel": "0.25,0.5,0.25", + "trusted_3d_smoothing_min_segment_frames": 3, + "pad_frozen_data": false, + "manus_frozen_left": false, + "manus_frozen_right": false +} diff --git a/DeskTaskTac/RawHandPip/meta/episode_records/episode_000001.json b/DeskTaskTac/RawHandPip/meta/episode_records/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..49439342073f84d02e10eec07492275fb385c19e --- /dev/null +++ b/DeskTaskTac/RawHandPip/meta/episode_records/episode_000001.json @@ -0,0 +1,29 @@ +{ + "episode_index": 1, + "session_name": "episode_000001", + "session_dir": "sessions/episode_000001", + "length": 1259, + "task_index": 4, + "task": "stack_cups", + "fps": 30.0, + "camera_serials": "all", + "multiview_min_hand_tags": 0, + "rts_smooth_wrist_pose": false, + "first_person_camera_serial": "camera_0", + "video.top_view": "videos/video.top_view/episode_000001.mp4", + "parquet_path": "data/episode_000001.parquet", + "mano_device": "cpu", + "duration_seconds": 41.964, + "timeline_mode": "camera_serial", + "timeline_camera_serial": "camera_0", + "pad_frozen_data": false, + "manus_frozen_left": false, + "manus_frozen_right": false, + "pipeline_mode": "rawhand", + "hand_2d_backend": "mixed", + "interpolation_space": "2d", + "trusted_3d_mse_threshold_px2": 150.0, + "lose_track_time_s": 1.0, + "trusted_3d_smoothing_kernel": "0.25,0.5,0.25", + "trusted_3d_smoothing_min_segment_frames": 3 +} diff 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See each subset's `meta/features.json` and `meta/dataset_info.json` for machine-readable schema details. + +## Schema Consistency + +Both InternDataTac subsets share the same 40-column per-frame schema: + +- `curated__genie1_mano_tactile` +- `curated__lift2_mano_tactile` + +Common frame fields are documented in the top-level `README.md`. This file lists InternDataTac-specific fields and metadata. + +## Loading Notes + +- Both InternDataTac subsets share one per-frame schema. +- Read `meta/features.json` before selecting parquet columns. +- Use `meta/tasks.jsonl` to resolve `task_index`. +- Use `meta/episodes.parquet` for episode length, task text, `robot_type`, parquet path, and video path. +- `mask.right_arm` and `mask.left_arm` mark inactive sides. +- Tactile and gripper values of `-1` on masked sides are missing values, not valid zero readings. +- Resolve `video.top_view` relative to the subset root. + +## InternDataTac-Specific Per-Frame Fields + +InternDataTac adds robot-gripper, arm-mask, and MANO tactile fields on top of the common schema. + +| field | dtype / shape | meaning | +| --- | --- | --- | +| `state.right_gripper` | `float32[1]` | Right gripper openness/state, declared range `[0, 1]`. Masked inactive values are stored as `-1`. | +| `state.left_gripper` | `float32[1]` | Left gripper openness/state, declared range `[0, 1]`. Masked inactive values are stored as `-1`. | +| `action.right_gripper` | `float32[1]` | Right gripper action target, declared range `[0, 1]`. | +| `action.left_gripper` | `float32[1]` | Left gripper action target, declared range `[0, 1]`. | +| `mask.right_arm` | `bool` scalar | Right-arm inactive-side flag. `true` means this side is inactive/masked for that episode. | +| `mask.left_arm` | `bool` scalar | Left-arm inactive-side flag. `true` means this side is inactive/masked for that episode. | +| `tactile.right_mano_tactile` | `float32[351]` | Right-side MANO compact tactile pressure vector. | +| `tactile.left_mano_tactile` | `float32[351]` | Left-side MANO compact tactile pressure vector. | +| `tactile_pred.right_mano_tactile` | `float32[351]` | Right-side predicted or processed MANO tactile vector. | +| `tactile_pred.left_mano_tactile` | `float32[351]` | Left-side predicted or processed MANO tactile vector. | + +## Tactile Representation + +The tactile representation is `MANO compact 351 pressure`. Contact pressure is projected onto a shared MANO hand surface and stored as a 351-D compact vector. + +Normalization is recorded in each subset's `meta/dataset_info.json` and `meta/episode_records/*.json`: + +| subset | normalization method | scale | +| --- | --- | ---: | +| `curated__genie1_mano_tactile` | `dataset_robot_max` | `5914047.0` | +| `curated__lift2_mano_tactile` | `dataset_robot_max` | `15187778.0` | + +Valid nonnegative tactile values are divided by the scale. Masked inactive-arm values remain `-1`; do not interpret `-1` as a physical zero-contact reading. + +## Arm Masks And Missing Side Policy + +InternDataTac episodes are usually single-arm tasks even though both left and right fields are present. The inactive side is preserved in the schema but filled with masked values. + +Use both the frame-level mask fields and the episode record: + +- Frame columns: `mask.right_arm`, `mask.left_arm` +- Episode metadata: `meta/episodes.parquet` columns `right_arm_mask`, `left_arm_mask` +- Per-episode metadata record: `meta/episode_records/episode_*.json` under `mask`, `pressure`, and `derived_eef_pose` + +In the episode record, `active_arm` names the active side. A side with `missing_policy: static_arm_masked` has no pressure cache and is filled with `-1`. + +## Episode Metadata + +Each subset's `meta/episodes.parquet` has the same InternDataTac episode-level columns: + +| field | meaning | +| --- | --- | +| `episode_index` | Episode id within the release subset. | +| `session_name`, `session_dir` | Release-local episode/session identifiers. | +| `length` | Number of frames in the episode. | +| `task_index`, `task` | Task id and task instruction. | +| `robot_type` | Robot family, such as `genie1` or `lift2`. | +| `fps` | Nominal frame rate, `30.0`. | +| `video.top_view` | Relative top-view video path when available. | +| `parquet_path` | Relative path to the episode parquet file. | +| `right_arm_mask`, `left_arm_mask` | Episode-level inactive-arm mask flags. | + +## Video Availability + +`curated__genie1_mano_tactile` and `curated__lift2_mano_tactile` include top-view MP4 files for every episode in this release. + +## Release Files + +Each Intern subset contains: + +- `data/episode_*.parquet`: frame-level data. +- `meta/features.json`: 40-field per-frame schema. +- `meta/dataset_info.json`: dataset counts, modality mapping, coordinate systems, and tactile normalization. +- `meta/episodes.parquet`: episode-level index. +- `meta/tasks.jsonl`: task mapping. +- `meta/episode_records/*.json`: detailed per-episode metadata records. +- `videos/video.top_view/episode_*.mp4`: top-view MP4 videos for each episode. diff --git a/InternDataTac/curated__genie1_mano_tactile/data/episode_000000.parquet b/InternDataTac/curated__genie1_mano_tactile/data/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4a8b2e01df7a1d0a91968aee14561af0a1e49cc4 --- /dev/null +++ b/InternDataTac/curated__genie1_mano_tactile/data/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acdcab128777c7d9872c8347a6352b63c8f5f2768aa5ace4a9fa0a3e63aaab96 +size 137000 diff --git 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--git a/LICENSE b/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..6b122a509e7c0054b974b49e4d6b16e09225714f --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2026 H-Tac dataset authors + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md index 32897cd3e640101ba184f8c4ccd896981de3804a..2e008614bb43a65a6e2c0c53df66da0c47710beb 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,146 @@ ---- -license: mit ---- +# H-Tac Release Sample InternDesk + +This package is a sample release of H-Tac tactile manipulation data. It uses a LeRobot v2.1-style episode layout with H-Tac metadata, and contains complete episode groups from two dataset families: + +| directory | subset | episodes | frames | videos | +| --- | --- | ---: | ---: | ---: | +| `DeskTaskTac/RawHandPip` | human hand desk tasks with tactile data | 10 | 10,974 | 10 | +| `DeskTaskTac/AprilTagPip` | AprilTag-assisted desk tasks with tactile data | 4 | 11,104 | 4 | +| `InternDataTac/curated__genie1_mano_tactile` | robot MANO tactile data | 49 | 7,553 | 49 | +| `InternDataTac/curated__lift2_mano_tactile` | robot MANO tactile data | 35 | 6,351 | 35 | + +Total sample size: 98 complete episodes, 35,982 frames, and 98 included top-view videos. + +## Release Documents + +- `README.md`: release overview, layout, shared fields, and loading notes. +- `SCHEMA.md`: cross-family schema reference for loader implementation. +- `InternDataTac/README.md`: InternDataTac-specific fields, masks, tactile normalization, and video availability. +- `DeskTaskTac/README.md`: DeskTaskTac-specific fields, pipeline differences, timing notes, and subset summaries. +- `LICENSE`: license terms for this sample package. +- `CITATION.md`: citation text for this sample package. + +## Scope + +Each episode is complete within the package: parquet frames, episode metadata, task records, per-episode records, and available top-view videos are aligned by release-local episode indices. + +## Dataset Families + +The sample has two related but not identical data families: + +- `InternDataTac`: robot manipulation data with MANO-based 351-D tactile pressure fields. Its two subsets share the same per-frame schema. +- `DeskTaskTac`: human-hand desktop manipulation data with TacGlove-style 137-D tactile fields. Its two subsets share the same per-frame schema. + +Both families use the same LeRobot v2.1-style directory layout. They share timing, task, pose, MANO, video, and action/state fields; tactile and hand-control fields are family-specific. + +## Layout + +Each subset follows this layout: + +- `data/episode_*.parquet`: per-frame episode data. +- `meta/episodes.parquet`: episode-level metadata. +- `meta/tasks.jsonl`: task language and task indices. +- `meta/features.json`: machine-readable feature schema. +- `meta/dataset_info.json`: dataset-level metadata. +- `meta/episode_records/*.json`: per-episode metadata records. +- `videos/video.top_view/episode_*.mp4`: top-view videos when available. + +`meta/features.json` is the machine-readable frame schema. `meta/dataset_info.json` records dataset-level counts, modality metadata, fps, tactile notes, and coordinate systems. + +## Access Notes + +This release does not include dataset loading code. Use a parquet-capable reader that supports list columns, and treat the metadata files as the interface contract: + +- Use `meta/features.json` as the authoritative per-frame schema for each subset. +- Use `meta/dataset_info.json` for dataset-level counts, modality names, fps, tactile normalization notes, and coordinate-system definitions. +- Use `meta/tasks.jsonl` to map `task_index` to text. +- Use `meta/episodes.parquet` for episode length, task, relative parquet path, and relative video path. +- Resolve `video.top_view` relative to the subset root. +- Treat the common fields below as the shared interface, then branch by family for tactile and hand-control fields. + +## Schema Compatibility + +Within this package, the subset schemas have the following properties: + +- All episode parquet files in each subset have column names matching the subset's `meta/features.json`. +- All vector fields have the declared lengths. +- `frame_index` is contiguous from `0` to `length - 1` inside each episode. +- `episode_done` is `true` only on the last frame of each episode. +- Frame totals in `meta/dataset_info.json` match the actual parquet row counts. + +Per-frame schema compatibility: + +| comparison | result | +| --- | --- | +| `InternDataTac` subsets compared with each other | same 40-column per-frame schema | +| `DeskTaskTac` subsets compared with each other | same 38-column per-frame schema | +| `InternDataTac` compared with `DeskTaskTac` | not identical; 30 common columns plus family-specific fields | + +Notable family-specific differences: + +| family | family-specific fields | +| --- | --- | +| `InternDataTac` | gripper fields, active-arm masks, `tactile.*_mano_tactile` and `tactile_pred.*_mano_tactile` | +| `DeskTaskTac` | dexhand fields, `tactile.*_tacglove` and `tactile_pred.*_tacglove` | + +## Common Per-Frame Fields + +The following fields are common to both families and appear in every `data/episode_*.parquet` file. + +| field | dtype / shape | meaning | +| --- | --- | --- | +| `episode_index` | `int64` scalar | Episode id within the release subset. | +| `frame_index` | `int64` scalar | Frame id inside the episode, starting from `0`. | +| `timestamp` | `float32` scalar | Episode-relative timestamp in seconds. | +| `timestamp_ms` | `float64` scalar | Millisecond timestamp. In `InternDataTac` this is episode-relative; in `DeskTaskTac` this preserves the captured timeline timestamp. | +| `task_index` | `int64` scalar | Task id, resolved through `meta/tasks.jsonl`. | +| `task` | `string` scalar | Task language or task name copied onto each frame. | +| `session_name` | `string` scalar | Release-local episode/session identifier. | +| `session_dir` | `string` scalar | Release-local session path or identifier. | +| `manus_frame_index` | `int64` scalar | Source Manus/MoCap frame index when available; `-1` means unavailable. | +| `episode_done` | `bool` scalar | End-of-episode marker. Only the final frame is `true`. | +| `state.eef_position` | `float32[3]` | Right-side end-effector or wrist position in `first_person_camera_opencv`. | +| `state.eef_rotation` | `float32[3]` | Right-side end-effector or wrist rotation as axis-angle in `first_person_camera_opencv`. | +| `state.left_eef_position` | `float32[3]` | Left-side end-effector or wrist position in `first_person_camera_opencv`. | +| `state.left_eef_rotation` | `float32[3]` | Left-side end-effector or wrist rotation as axis-angle in `first_person_camera_opencv`. | +| `state.right_beta` | `float32[10]` | Right MANO shape parameter. | +| `state.left_beta` | `float32[10]` | Left MANO shape parameter. | +| `state.right_theta` | `float32[45]` | Right MANO pose parameter. | +| `state.left_theta` | `float32[45]` | Left MANO pose parameter. | +| `state.first_person_camera_position_world` | `float32[3]` | First-person camera position in `world_scene`. | +| `state.first_person_camera_rotation_world` | `float32[3]` | First-person camera rotation as axis-angle in `world_scene`. | +| `video.top_view` | `video` / stored as string path | Relative path to the top-view MP4 for this episode when present. | +| `video.top_view_frame_index` | `int64` scalar | Frame index in the top-view video. In this sample it matches `frame_index`. | +| `action.eef_position` | `float32[3]` | Right-side action target or delta in `first_person_camera_opencv`; declared with `absolute=false`. | +| `action.eef_rotation` | `float32[3]` | Right-side action rotation as axis-angle; declared with `absolute=false`. | +| `action.left_eef_position` | `float32[3]` | Left-side action target or delta in `first_person_camera_opencv`; declared with `absolute=false`. | +| `action.left_eef_rotation` | `float32[3]` | Left-side action rotation as axis-angle; declared with `absolute=false`. | +| `action.right_beta` | `float32[10]` | Right MANO action shape parameter. | +| `action.left_beta` | `float32[10]` | Left MANO action shape parameter. | +| `action.right_theta` | `float32[45]` | Right MANO action pose parameter. | +| `action.left_theta` | `float32[45]` | Left MANO action pose parameter. | + +## Coordinate Systems + +`first_person_camera_opencv` is the current-frame egocentric camera frame following the OpenCV convention: + +- `x`: image right +- `y`: image down +- `z`: camera forward + +`world_scene` is the scene/world frame used to express the first-person camera pose. `InternDataTac` defines it as the SimBox camera-to-environment scene frame. `DeskTaskTac` defines it as the scene-board world frame anchored to the reference scene AprilTag. + +## Notes + +`meta/episodes.parquet` contains family-specific auxiliary columns. Use the common fields required by your loader, and branch by dataset family for additional metadata. + +Top-view videos are part of the released modalities. Desk-task videos show hands, forearms, tools, and tabletop objects; robot-scene videos show the robot workspace and manipulated objects. + +## License And Citation + +License terms are provided in `LICENSE`. Citation text is provided in `CITATION.md`. + +Family-specific schema details are documented in: + +- `InternDataTac/README.md` +- `DeskTaskTac/README.md` diff --git a/SCHEMA.md b/SCHEMA.md new file mode 100644 index 0000000000000000000000000000000000000000..014e912093d48440baa8361aba76a238ea23163c --- /dev/null +++ b/SCHEMA.md @@ -0,0 +1,118 @@ +# Schema Reference + +This document summarizes the schema of `H-Tac_Release_Sample_InternDesk`. The authoritative machine-readable schemas are the per-subset `meta/features.json` and `meta/dataset_info.json` files. + +## Compatibility + +| scope | per-frame schema | +| --- | --- | +| `InternDataTac/curated__genie1_mano_tactile` | 40 columns | +| `InternDataTac/curated__lift2_mano_tactile` | same 40 columns | +| `DeskTaskTac/RawHandPip` | 38 columns | +| `DeskTaskTac/AprilTagPip` | same 38 columns | +| InternDataTac vs DeskTaskTac | 30 shared columns plus family-specific fields | + +InternDataTac subsets share one per-frame schema. DeskTaskTac subsets share one per-frame schema. Tactile and hand-control fields differ by family. + +## Common Frame Columns + +These columns appear in every `data/episode_*.parquet` file. + +| field | dtype / shape | meaning | +| --- | --- | --- | +| `episode_index` | `int64` scalar | Episode id within the release subset. | +| `frame_index` | `int64` scalar | Frame id inside the episode, starting at `0`. | +| `timestamp` | `float32` scalar | Episode-relative timestamp in seconds. | +| `timestamp_ms` | `float64` scalar | Millisecond timestamp. InternDataTac uses episode-relative milliseconds; DeskTaskTac preserves captured timeline milliseconds. | +| `task_index` | `int64` scalar | Task id resolved through `meta/tasks.jsonl`. | +| `task` | `string` scalar | Task instruction or task name. | +| `session_name` | `string` scalar | Release-local episode/session id. | +| `session_dir` | `string` scalar | Release-local session path or id. | +| `manus_frame_index` | `int64` scalar | Source Manus/MoCap frame index when available; `-1` means unavailable. | +| `episode_done` | `bool` scalar | End-of-episode marker; only the last frame is true. | +| `state.eef_position` | `float32[3]` | Right-side EEF or wrist position in `first_person_camera_opencv`. | +| `state.eef_rotation` | `float32[3]` | Right-side EEF or wrist axis-angle rotation in `first_person_camera_opencv`. | +| `state.left_eef_position` | `float32[3]` | Left-side EEF or wrist position in `first_person_camera_opencv`. | +| `state.left_eef_rotation` | `float32[3]` | Left-side EEF or wrist axis-angle rotation in `first_person_camera_opencv`. | +| `state.right_beta` | `float32[10]` | Right MANO shape parameter. | +| `state.left_beta` | `float32[10]` | Left MANO shape parameter. | +| `state.right_theta` | `float32[45]` | Right MANO pose parameter. | +| `state.left_theta` | `float32[45]` | Left MANO pose parameter. | +| `state.first_person_camera_position_world` | `float32[3]` | First-person camera position in `world_scene`. | +| `state.first_person_camera_rotation_world` | `float32[3]` | First-person camera axis-angle rotation in `world_scene`. | +| `video.top_view` | stored as string path | Relative path to the top-view video for this episode when present. | +| `video.top_view_frame_index` | `int64` scalar | Top-view video frame index. In this sample it matches `frame_index`. | +| `action.eef_position` | `float32[3]` | Right-side action target or delta in `first_person_camera_opencv`; declared `absolute=false`. | +| `action.eef_rotation` | `float32[3]` | Right-side action axis-angle rotation; declared `absolute=false`. | +| `action.left_eef_position` | `float32[3]` | Left-side action target or delta in `first_person_camera_opencv`; declared `absolute=false`. | +| `action.left_eef_rotation` | `float32[3]` | Left-side action axis-angle rotation; declared `absolute=false`. | +| `action.right_beta` | `float32[10]` | Right MANO action shape parameter. | +| `action.left_beta` | `float32[10]` | Left MANO action shape parameter. | +| `action.right_theta` | `float32[45]` | Right MANO action pose parameter. | +| `action.left_theta` | `float32[45]` | Left MANO action pose parameter. | + +## InternDataTac-Specific Frame Columns + +| field | dtype / shape | meaning | +| --- | --- | --- | +| `state.right_gripper` | `float32[1]` | Right gripper openness/state in `[0, 1]`; `-1` means inactive/masked. | +| `state.left_gripper` | `float32[1]` | Left gripper openness/state in `[0, 1]`; `-1` means inactive/masked. | +| `action.right_gripper` | `float32[1]` | Right gripper action target. | +| `action.left_gripper` | `float32[1]` | Left gripper action target. | +| `mask.right_arm` | `bool` scalar | Right side inactive/masked flag. | +| `mask.left_arm` | `bool` scalar | Left side inactive/masked flag. | +| `tactile.right_mano_tactile` | `float32[351]` | Right MANO compact tactile pressure vector. | +| `tactile.left_mano_tactile` | `float32[351]` | Left MANO compact tactile pressure vector. | +| `tactile_pred.right_mano_tactile` | `float32[351]` | Right predicted or processed MANO tactile vector. | +| `tactile_pred.left_mano_tactile` | `float32[351]` | Left predicted or processed MANO tactile vector. | + +InternDataTac tactile values are normalized by a subset-specific `dataset_robot_max` scale recorded in `meta/dataset_info.json`. Nonnegative values are divided by that scale; masked inactive-arm values remain `-1`. + +## DeskTaskTac-Specific Frame Columns + +| field | dtype / shape | meaning | +| --- | --- | --- | +| `state.dexhand_position` | `float32[6]` | Right-side dexhand/hand-position state vector. | +| `state.left_dexhand_position` | `float32[6]` | Left-side dexhand/hand-position state vector. | +| `action.dexhand_position` | `float32[6]` | Right-side dexhand/hand-position action vector. | +| `action.left_dexhand_position` | `float32[6]` | Left-side dexhand/hand-position action vector. | +| `tactile.right_tacglove` | `float32[137]` | Right TacGlove tactile vector. | +| `tactile.left_tacglove` | `float32[137]` | Left TacGlove tactile vector. | +| `tactile_pred.right_tacglove` | `float32[137]` | Right predicted or processed TacGlove tactile vector. | +| `tactile_pred.left_tacglove` | `float32[137]` | Left predicted or processed TacGlove tactile vector. | + +For DeskTaskTac, `state.eef_*` and `state.left_eef_*` are hand wrist or anchor poses in the first-person OpenCV camera frame, not robot EEF poses. + +## Coordinate Systems + +`first_person_camera_opencv`: + +- `x`: image right +- `y`: image down +- `z`: camera forward + +`world_scene`: + +- InternDataTac: scene world frame used by SimBox camera-to-environment poses. +- DeskTaskTac: scene-board world frame anchored to the reference scene AprilTag. + +Rotations are stored as axis-angle vectors where declared by `meta/features.json`. + +## Metadata Files + +| path | purpose | +| --- | --- | +| `meta/features.json` | Authoritative frame-level feature schema. | +| `meta/dataset_info.json` | Dataset-level counts, modalities, coordinate systems, and tactile notes. | +| `meta/tasks.jsonl` | Task id to task text mapping. | +| `meta/episodes.parquet` | Episode-level index with lengths, task ids, relative parquet paths, and video paths. | +| `meta/episode_records/*.json` | Detailed per-episode metadata records. | + +`meta/episodes.parquet` has family-specific auxiliary columns. InternDataTac includes `robot_type`, `right_arm_mask`, and `left_arm_mask`. DeskTaskTac includes camera, timeline, processing, and pipeline metadata. + +## Missing And Masked Values + +- InternDataTac inactive sides use masks and commonly fill tactile, gripper, pose, or MANO fields with `-1`. +- Treat `-1` on masked InternDataTac sides as missing data, not physical zero contact. +- `manus_frame_index = -1` means no source Manus/MoCap frame was available for that frame. +- Resolve `video.top_view` path strings relative to the subset root.